Package com.team2813.lib2813.subsystems.lightshow

Class Lightshow

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

com.team2813.lib2813.subsystems.lightshow.Lightshow

All Implemented Interfaces:

Sendable, Subsystem

Direct Known Subclasses:

QueueLightshow

public abstract class Lightshow
extends SubsystemBase

Field Summary

Fields

Modifier and Type	Field	Description
protected Optional<? extends State>	defaultState
protected static final State	off	A static state that signifies that the lights should be off, that is always applied
protected final Set<State>	states

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	Lightshow(Class<T> enumClass)	Creates a new Lightshow subsystem using an enum.
protected	Lightshow(Set<? extends State> states)	Creates a new Lightshow subsystem with a set of states.

Method Summary

Modifier and Type	Method	Description
final <T extends Enum<T> & State> void	addStates(Class<? extends T> enumClass)
final void	addStates(Set<? extends State> states)
void	periodic()
void	setDefaultState(State defaultState)	Sets the State to be used if none is given.
protected abstract Optional<Color>	update()	Updates the current States.
protected abstract void	useColor(Color color)	Sets the lights to the provided color.

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, idle, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Field Details

off

protected static final State off

A static state that signifies that the lights should be off, that is always applied

states

protected final Set<State> states

defaultState

protected Optional<? extends State> defaultState

Constructor Details

Lightshow

protected Lightshow(Class<T> enumClass)

Creates a new Lightshow subsystem using an enum. Uses the given enumClass to get a list of States to use.

Type Parameters:

T - The type of enum that implements state

Parameters:

enumClass - The enum class that contains the states

Lightshow

protected Lightshow(Set<? extends State> states)

Creates a new Lightshow subsystem with a set of states.

Parameters:

states - The states

Method Details

useColor

protected abstract void useColor(Color color)

Sets the lights to the provided color.

Subclasses should override this to display the provided color. For example, the value could be passed to com.ctre.phoenix.CANifier.setLEDOutput(double, LEDChannel).

Parameters:

color - Color to display

addStates

public final <T extends Enum<T> & State> void addStates(Class<? extends T> enumClass)

addStates

public final void addStates(Set<? extends State> states)

update

protected abstract Optional<Color> update()

Updates the current States. Makes the current states updated, and gets the Color to be displayed.

Returns:

an optional representing the color to be displayed

See Also:

• periodic()

Implementation Requirements:

Do anything with states to determine which Color to display

periodic

public void periodic()

This implementation of Subsystem.periodic() updates the colors by passing the call of update() to the given Consumer. If the call to update() returns an empty optional, than the color of the default state is used, or the color is not changed.

Implementation Requirements:

useColor(Color) is passed the result of update(), or the defaultState's color. If there is no color from update() and no default state, there is no requirement for what to pass to useColor(Color), or if useColor(Color) is called at all

setDefaultState

public void setDefaultState(State defaultState)

Sets the State to be used if none is given.

Parameters:

defaultState - the State to be used as a default.